Kinematics and dynamics of an inverted doublependulum on the sagittal plane have been simulated to study the inﬂuence of anthropometric parameters, and of parameters related to the experimental protocol, on the estimation of kinematics in a Functional Reach test , when the only measurement instrument used is the dynamometric platform. The estimation problem is related to the solution of an optimization problem. Against the experimental ease of the protocol, the estimation of kinematic variables requires particular attention to be given to the estimation of the centre-of-mass (COM) and ankle joint centre positions, and to the parameters of the biomechanical model.
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